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A multilayer control architecture for unmanned aerial vehicles | IEEE Conference Publication | IEEE Xplore

A multilayer control architecture for unmanned aerial vehicles


Abstract:

In the past several years there has been a lot of interest in the design of efficient autonomous intelligent controllers for unmanned aerial vehicles (UAV). This is a ver...Show More

Abstract:

In the past several years there has been a lot of interest in the design of efficient autonomous intelligent controllers for unmanned aerial vehicles (UAV). This is a very challenging problem since future UAVs will be expected to complete autonomously a wide variety of complex missions, and achieve performance comparable to that of the manned vehicles. In this paper we describe and discuss the issues arising in autonomous intelligent control of UAVs. It is shown that the related problems can be effectively addressed within a framework of a four-layer hierarchical control architecture. The layers integrate the following autonomous functions: (1) fault-tolerant redundancy management; (2) trajectory generation; (3) path planning; and (4) decision making. The resulting multilayer control architecture is described in detail.
Date of Conference: 08-10 May 2002
Date Added to IEEE Xplore: 07 November 2002
Print ISBN:0-7803-7298-0
Print ISSN: 0743-1619
Conference Location: Anchorage, AK, USA

References

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